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Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile

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Thermally Drawn Monolithic Polymer Continuum Robot with Lase...

IEEE International Conference on Robotics and Biomimetics

作者： Huanghua Liu Yun Zou Zheng Xu Anzhu Gao Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai P. R. China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai P. R. China

Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots.

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Opportunistic Wireless control Over State-Dependent Fading Channels

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arXiv 2022年

作者： Wang, Shuling Li, Peizhe Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

The heterogeneous system consisting of the wireless control system (WCS) and mobile agent system (MAS) is ubiquitous in Industrial Internet of Things (IIoT) systems. Within this system, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise the WCS’s performance. This paper focuses on the controller design for the MAS to ensure the performance of WCS in the presence of WCS and MAS coupling. Firstly, the constrained finite field network (FFN) with profile-dependent switching topology is adopted to proceed the operational control for the MAS. By virtue of the algebraic state space representation (ASSR) method, an equivalent form is obtained for the WCS and MAS coupling. A necessary and sufficient condition in terms of constrained set stabilization is then established to ensure the Lyapunov-like performance with expected decay rate. Finally, a graphical method together with the breath-first searching is provided to design state feedback controllers for the MAS. With this method, it is easy to check the constrained set stabilization of MAS and to ensure the performance requirements of WCS in the presence of WCS and MAS coupling. The study of an illustrative example shows the effectiveness of the proposed method. Copyright © 2022, The Authors. All rights reserved.

关键词： controllers

Distributionally Robust Day-ahead Scheduling for Power-traffic Network under a Potential Game Framework

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arXiv 2022年

作者： Deng, Haoran Yang, Bo Ning, Chao Chen, Cailian Guan, Xinping The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Widespread utilization of electric vehicles (EVs) incurs more uncertainties and impacts on the scheduling of the power-transportation coupled network. This paper investigates optimal power scheduling for a power-transportation coupled network in the day-ahead energy market considering multiple uncertainties related to photovoltaic (PV) generation and the traffic demand of vehicles. The crux of this problem is to model the coupling relation between the two networks in the day-ahead scheduling stage and consider the intra-day spatial uncertainties of the source and load. Meanwhile, the flexible load with a certain adjustment margin is introduced to ensure the balance of supply and demand of power nodes and consume the renewable energy better. Furthermore, we show the interactions between the power system and EV users from a potential game-theoretic perspective, where the uncertainties are characterized by an ambiguity set. In order to ensure the individual optimality of the two networks in a unified framework in day-ahead power scheduling, a two-stage distributionally robust centralized optimization model is established to carry out the equilibrium of power-transportation coupled network. On this basis, a combination of the duality theory and the Benders decomposition is developed to solve the distributionally robust optimization (DRO) model. Simulations demonstrate that the proposed approach can obtain individual optimal and less conservative strategies. © 2022, CC BY-NC-SA.

关键词： Electric loads

On Enlarging the Domain of Attraction for Linear systems Subject to Asymmetric Actuator Saturation

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On Enlarging the Domain of Attraction for Linear Systems Sub...

IEEE Conference on Decision and control

作者： Wenxin Lai Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA U.S.A.

In this paper, we revisit the problem of enlarging the domain of attraction for linear systems with asymmetric actuator saturation. We partition the state space into several regions according to the sign of each input and rewrite the linear system subject to asymmetric actuator saturation as an equivalent switched system, each subsystem of which is associated with one partition of the state space and is a linear system subject to symmetric actuator saturation. Based on this equivalent representation of the system, we present a Lyapunov function, which is composed of a set of quadratic functions associated with matrices that are not required to be positive definite. We establish sufficient conditions for regional stability and, based on them, formulate optimization problems to enlarge the estimate of the domain of attraction. Simulation results illustrate the effectiveness of the proposed approach.

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How to Share: Balancing Layer and Chain Sharing in Industrial Microservice Deployment

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arXiv 2022年

作者： Liu, Yuxiang Yang, Bo Wu, Yu Chen, Cailian Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

With the rapid development of smart manufacturing, edge computing-oriented microservice platforms are emerging as an important part of production control. In the containerized deployment of microservices, layer sharing can reduce the huge bandwidth consumption caused by image pulling, and chain sharing can reduce communication overhead caused by communication between microservices. The two sharing methods use the characteristics of each microservice to share resources during deployment. However, due to the limited resources of edge servers, it is difficult to meet the optimization goals of the two methods at the same time. Therefore, it is of critical importance to realize the improvement of service response efficiency by balancing the two sharing methods. This paper studies the optimal microservice deployment strategy that can balance layer sharing and chain sharing of microservices. We build a problem that minimizes microservice image pull delay and communication overhead and transform the problem into a linearly constrained integer quadratic programming problem through model reconstruction. A deployment strategy is obtained through the successive convex approximation (SCA) method. Experimental results show that the proposed deployment strategy can balance the two resource sharing methods. When the two sharing methods are equally considered, the average image pull delay can be reduced to 65% of the baseline, and the average communication overhead can be reduced to 30% of the baseline. Copyright © 2022, The Authors. All rights reserved.

关键词： Production control

Design a Reconfigurable Modem for Underwater Acoustic Communications

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Design a Reconfigurable Modem for Underwater Acoustic Commun...

2020 Global Oceans: Singapore - U.S. Gulf Coast, OCEANS 2020

作者： Zhong, Jian Liu, Lingya Yu, Wenbin Wang, Yiyin Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Dept. of Automation Shanghai200240 China

ISBN: (纸本)9781728154466

Underwater acoustic communications are challenging due to the complex and varying conditions in underwater acoustic (UWA) channels, such as multipath, Doppler spread, long delay etc. Many communication algorithms have been proposed to deal with these challenges. A reconfigurable UWA modem is in need to provide a flexible platform for testing various communication algorithms. In this paper, we propose and implement a reconfigurable software-defined acoustic modem. With orthogonal frequency division multiplexing (OFDM) as the core technology, we design a complete communication system including coding, mapping, synchronization, channel estimation and equalization modules. The parameters of these modules can be changed according to the situations. The performance of the designed communication system is evaluated by bit error rates (BERs) under different signal to noise ratios (SNRs) in simulation. Furthermore, the physical layer algorithms are compiled into the modem. We carry out experiments in both indoor (water tank) and outdoor (reservoir) environments to testify the modem implementation. © 2020 IEEE.

关键词： Underwater acoustic communication

Local Topology Inference of Mobile Robotic Networks under Formation control

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arXiv 2022年

作者： Li, Yushan He, Jianping Cai, Lin Guan, Xinping The Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China The Dept. of Electrical and Computer Engineering University of Victoria BC Canada

The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can manoeuvre among the formation robots. This problem faces new challenges brought by the highly coupled influence of unobservable formation robots, inaccessible formation inputs, and unknown interaction range. The novel idea here is to advocate a range-shrink strategy to perfectly avoid the influence of unobservable robots while filtering the input. To that end, we develop consecutive algorithms to determine a feasible constant robot subset from the changing robot set within the observation range, and estimate the formation input and the interaction range. Then, an ordinary least squares based local topology estimator is designed with the previously inferred information. Resorting to the concentration measure, we prove the convergence rate and accuracy of the proposed estimator, taking the estimation errors of previous steps into account. Extensions on nonidentical observation slots and more complicated scenarios are also analyzed. Comprehensive simulation tests and method comparisons corroborate the theoretical findings. Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

controllability of Networked Sampled-data systems

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arXiv 2022年

作者： Yang, Zixuan Wang, Xiaofan Wang, Lin The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

The controllability of networked sampled-data systems with zero-order holders on the control and transmission channels is explored, where single- and multi-rate sampling patterns are considered, respectively. The effects of sampling on the controllability of networked systems are analyzed, with some necessary and/or sufficient controllability conditions derived. Different from the sampling control of single systems, the pathological sampling of node systems could be eliminated by an appropriate design of network structure and inner couplings. While for singular topology matrices, the pathological sampling of single nodes will cause the entire system to lose controllability. Moreover, any periodic sampling will not affect the controllability of networked systems with specific node dynamics. All the results indicate that whether a networked system is under pathological sampling or not is jointly determined by mutually coupled factors. Copyright © 2022, The Authors. All rights reserved.

关键词： controllability

Detection of Weak Signal Amplitude of Winding Deformation Based on Duffing Oscillator

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Detection of Weak Signal Amplitude of Winding Deformation Ba...

Chinese control Conference (CCC)

作者： Sheng-Min Li Yuan-Yuan He Yue-Yue Che Xu-Xia Sun Academy of Automation & Information Engineering Xi’an University of Technology Xi’an Key Laboratory of Shaanxi Province for Complex System Control and Intelligent Information Processing Xi’an

In order to solve the problem that it is difficult to detect the weak sinusoidal response signal when the frequency response method is used to detect the transformer winding deformation fault online, this paper proposes a method to detect the amplitude of the response signal by using Duffing oscillator. Secondly, in order to solve the influence of the target signal phase shift on the amplitude detection in the actual detection process, a method of first detecting the signal phase using a vibrator array composed of Duffing vibrators and then detecting the amplitude is proposed. Finally, using this method to process the two sets of measured response signals of online detection, the detection results show that the maximum error between the detected signal amplitude and the standard signal is 5. 69%, which meets the requirements of the power industry standard, which proves that the method used in this article is It is feasible in winding deformation detection.

关键词： Phased arrays Simulation Windings Frequency response Power industry Oscillators Standards